Can someone recommend a good book about Kinematic chains (mechanical engineering)?

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Catherine Bidard

Rational Kinematics by Jorge Angeles, very good for mathematical modelling of kinematic chains https://www.springer.com/gp/book/9780387968131

Manuela Herbeck

Please enjoy a 1876 publication by Franz Reuleaux.

The Kinematics of Machinery

As a reprint easily available at Dover Publications

This book takes you right to the roots and also allows to question some of the current misconceptions on kinematic chains in the rehabilitation and sports disciplines.

with best wishes

Manuela